Hi Leonardo,
I've just tried the following,
rosservice call gazebo/get_model_state '{model_name: cup}'
pose:
position:
x: 0.0
y: 0.0
z: 1.99999995232
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
success: True
status_message: GetModelState: got properties
success: True
status_message: SetModelState: set model state done
pose:
position:
x: 7.45058056917e-10
y: 0.0
z: 1.0
orientation:
x: 0.0
y: 0.70710682869
z: 0.0
w: 0.70710682869
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
success: True
status_message: GetModelState: got properties
Hello, I've been trying out the new CTurtle Gazebo API and I've seem to stumbled into a bug, but since I'm not really sure about it maybe you can clarify the behavior I'm seeing before creating a ticket.The problem is this: when using the gazebo/set_model_state service, apparently the orientation quaternion appears to be translated to roll pitch and yaw and handed to gazebo, but the problem is that the rpy values handed are in radians and gazebo seems to work with degrees.Even if I input the orientation quaternion obtained from gazebo/get_model_state back in through gazebo/set_model_state, it will produce the same error (the quat obtained from get_model_state seems to be correct). For example if the rpy in the gazebo gui for a model is '90 0 0', I will get orientation quat '0.707114 0 0 0.7071' from get_model_state, send it back in through set_model_state and it will come up as rpy '0.78 0 0' in gazebo, which is the correct rpy, only that now it is in radians. Am I missing something here ?Leonardo Scandolo
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